Research On Path Planning And Trajectory Tracking Of Tracked EOD

With the development of science and technology,the robotics technology has become an important symbol of scientific and technological innovation and competitiveness for a country.Aiming at terrorist incidents and major natural disasters,the special robots which can replace people to operate and accomplish these dangerous tasks in search and rescue,exploder clearing and fire protection and so on,are getting more and more attention.Therefore,based on the analysis of the autonomous mobile explosive ordnance disposal(EOD)robots,this paper does a further research on environment awareness,environmental reconstruction,autonomous navigation-path planning and trajectory tracking,the specific contents of which are as follows:Firstly,the kinematic model of the multi-link suspened trscked mobile platform and the 5-DOF manipulator are respectively established.Furthermore,the whole EOD robot system is modeled,which establishes a theoretical foundation for the subsequent control method research.Secondly,the data foundation of the trajectory planning is environmental information collection,map building and target location identification.In this paper,the combination of TOF camera and laser scanner is applied to achieve the environmental information perception of autonomous mobile explosive ordnance disposal robots.Combined with the characteristics of large working space of laser scanner and rich near filed information and the KCF recognition algorithm and distance constraint are applied to accomplish map building and object identification.Thirdly,the following research work is done to solve the problem of path planning:(1)raster map is established based on the information combination of TOF camera and laser scanner,to achieve the foundation of environmental information of route planning and trajectory tracking.(2)aiming at the problem of likelihood of causing shaking in course of A*algorithm,the improved A*algorithm is introduced which leads course constraints and improves the stability of crawler-type motion platform;(3)In order to solve the problem of 5-DOF trajectory planning with the shortest running time as the target,this paper proposes a double population genetic optimal trajectory planning algorithm based on a chaotic local search,which improves the autonomous operation efficiency.To sum up,the EOD robot can finish environmental information collection and target recognition through TOF camera and laser scanner,realize the path planning of the tracked movement platform through improved A*algorithm,achieve the trajectory planning of a 5-DOF manipulator through the double-population genetic optimal trajectory planning algorithm based on a chaotic local search and realize the trajectory tracking of explosive ordnance disposal robot by the model predictive control algorithm.At this point,the robot has been able to initially have autonomous operation capability of target recognition? route planning?trajectory planning?trajectory tracking,which greatly improves the level of intelligence.